MX-28T, MX-64T, MX-106T

Connection to UART

To control the Dynamixel actuators, the main controller needs to convert its UART signals to the half duplex type. The recommended circuit diagrams for this are shown below.

Program in Arduino Uno
Download the latest version of Dynamixel_Serial from here. Extract it to the Arduino library folder which is usually: C:\Program Files\Arduino\libraries

GND to GND port #2 to Data Control
port #1(Tx) to Tx
Port #0(Rx) to Rx

You can now run one of the example to see how it works.